/*
 * Copyright (c) 2017 Daniel Koch, James Jackson and Gary Ellingson, BYU MAGICC Lab.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef ROSFLIGHT_SIM_MULTIROTOR_FORCES_AND_MOMENTS_H
#define ROSFLIGHT_SIM_MULTIROTOR_FORCES_AND_MOMENTS_H

#include <ros/ros.h>
#include <eigen3/Eigen/Dense>

#include <rosflight_sim/mav_forces_and_moments.h>

namespace rosflight_sim
{
class Multirotor : public MAVForcesAndMoments
{
private:
  ros::NodeHandle* nh_;
  Eigen::Vector3d wind_;

  double prev_time_;

  struct Rotor
  {
    double max;
    std::vector<double> F_poly;
    std::vector<double> T_poly;
    double tau_up; // time constants for response
    double tau_down;
  };

  struct Motor
  {
    Rotor rotor;
    Eigen::Vector3d position;
    Eigen::Vector3d normal;
    int direction; // 1 for CW -1 for CCW
  };

  int num_rotors_;
  std::vector<Motor> motors_;

  double linear_mu_;
  double angular_mu_;
  std::vector<double> ground_effect_;

  double mass_;

  // Container for an Actuator
  struct Actuator
  {
    double max;
    double tau_up;
    double tau_down;
  };

  // Struct of Actuators
  // This organizes the physical limitations of the abstract torques and Force
  struct Actuators
  {
    Actuator l;
    Actuator m;
    Actuator n;
    Actuator F;
  } actuators_;

  Eigen::MatrixXd rotor_position_;
  Eigen::MatrixXd rotor_plane_normal_;
  Eigen::VectorXd rotor_rotation_direction_;

  Eigen::MatrixXd force_allocation_matrix_;
  Eigen::MatrixXd torque_allocation_matrix_;
  Eigen::VectorXd desired_forces_;
  Eigen::VectorXd desired_torques_;
  Eigen::VectorXd actual_forces_;
  Eigen::VectorXd actual_torques_;

public:
  Multirotor(ros::NodeHandle* nh);
  ~Multirotor();

  Eigen::Matrix<double, 6, 1> updateForcesAndTorques(Current_State x, const int act_cmds[]);
  void set_wind(Eigen::Vector3d wind);
};

} // namespace rosflight_sim

#endif // ROSFLIGHT_SIM_MULTIROTOR_FORCES_AND_MOMENTS_H
